| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2020 Google Inc. All rights reserved. |
| // http://code.google.com/p/ceres-solver/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: darius.rueckert@fau.de (Darius Rueckert) |
| |
| #ifndef CERES_INTERNAL_CODEGEN_TEST_UTILS_H_ |
| #define CERES_INTERNAL_CODEGEN_TEST_UTILS_H_ |
| |
| #include "ceres/internal/autodiff.h" |
| #include "ceres/random.h" |
| #include "ceres/sized_cost_function.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // CodegenCostFunctions have both, an templated operator() and the Evaluate() |
| // function. The operator() is used during code generation and Evaluate() is |
| // used during execution. |
| // |
| // If we want to use the operator() during execution (with autodiff) this |
| // wrapper class here has to be used. Autodiff doesn't support functors that |
| // have an Evaluate() function. |
| // |
| // CostFunctionToFunctor hides the Evaluate() function, because it doesn't |
| // derive from CostFunction. Autodiff sees it as a simple functor and will use |
| // the operator() as expected. |
| template <typename CostFunction> |
| struct CostFunctionToFunctor { |
| template <typename... _Args> |
| CostFunctionToFunctor(_Args&&... __args) |
| : cost_function(std::forward<_Args>(__args)...) {} |
| |
| template <typename... _Args> |
| bool operator()(_Args&&... __args) const { |
| return cost_function(std::forward<_Args>(__args)...); |
| } |
| |
| CostFunction cost_function; |
| }; |
| |
| // Evaluate a cost function and return the residuals and jacobians. |
| // All parameters are set to 'value'. |
| std::pair<std::vector<double>, std::vector<double>> EvaluateCostFunction( |
| CostFunction* cost_function, double value); |
| |
| // Evaluates the two cost functions using the method above and then compares the |
| // result. The comparison uses GTEST expect macros so this function should be |
| // called from a test enviroment. |
| void CompareCostFunctions(CostFunction* cost_function1, |
| CostFunction* cost_function2, |
| double value, |
| double tol); |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif |